A self-propelled vehicle includes a maneuvering unit, a drive unit including first and second drive sections, which are driven and controlled by drive wheel control commands, a drive wheel unit including left and right drive wheels driven by the first and second drive sections, respectively, at least one caster wheel which is controlled by a caster wheel control command, a bank detector for detecting a degree of bank of the vehicle and a control unit including a drive wheel control section for generating the drive wheel control commands. The control unit further includes a caster wheel control section which generates the caster wheel control command for controlling the steering angle of the caster wheel during a bank traversing travel, based on the bank degree so as to resolve a difference between a target travel and the actual travel which occurs during the bank traversing travel.

A self-propelled vehicle includes a maneuvering unit, a drive unit including first and second drive sections, which are driven and controlled by drive wheel control commands, a drive wheel unit including left and right drive wheels driven by the first and second drive sections, respectively, at least one caster wheel which is controlled by a caster wheel control command, a bank detector for detecting a degree of bank of the vehicle and a control unit including a drive wheel control section for generating the drive wheel control commands. The control unit further includes a caster wheel control section which generates the caster wheel control command for controlling the steering angle of the caster wheel during a bank traversing travel, based on the bank degree so as to resolve a difference between a target travel and the actual travel which occurs during the bank traversing travel.

An on-board device controls the speed of the control target train so that the control target train is set to a given speed-controlled state upon reception of the earthquake detection signal, the given speed-controlled state being a state in which the speed of the control target train is set to be equal to or lower than a reduced speed, or the control target train is stopped. A speed control part estimates an estimated position and an estimated timing at which the control target train is set to a speed-controlled state when a given brake is continuously applied, and controls the speed of the control target train based on the positional relationship between the estimated position and the recommended avoiding-train-existence section when there is a time allowance between the estimated timing and the estimated earthquake arrival timing.

A vehicle control apparatus includes a first traveling motor, a second traveling motor, and a control system. The first traveling motor is coupled to a first wheel of a vehicle. The second traveling motor is coupled to a second wheel of the vehicle. The control system is configured to decrease a power running torque of the first traveling motor and increase a power running torque of the second traveling motor in a case where a first distance from the vehicle to a contact predicted spot or a contact object is less than a first threshold during traveling of the vehicle, and increase a regenerative torque of the first traveling motor and increase a regenerative torque of the second traveling motor in a case where a second distance from the vehicle to the contact object is less than a second threshold that is less than the first threshold during the traveling.

A vehicle control apparatus includes a first traveling motor, a second traveling motor, and a control system. The first traveling motor is coupled to a first wheel of a vehicle. The second traveling motor is coupled to a second wheel of the vehicle. The control system is configured to decrease a power running torque of the first traveling motor and increase a power running torque of the second traveling motor in a case where a first distance from the vehicle to a contact predicted spot or a contact object is less than a first threshold during traveling of the vehicle, and increase a regenerative torque of the first traveling motor and increase a regenerative torque of the second traveling motor in a case where a second distance from the vehicle to the contact object is less than a second threshold that is less than the first threshold during the traveling.

A torque control system for a multi-motor range-extended electrified vehicle (REEV) having an electric all-wheel drive (eAWD) system includes a control system configured to utilize an unfiltered driver demand for engine torque determination and for predicting a front/rear axle torque split of an electrified powertrain of the REEV, the unfiltered driver demand being indicative of a torque request to be satisfied by the electrified powertrain, obtain a filtered driver demand that is damped or delayed compared to the unfiltered driver demand, and utilize the filtered driver demand for controlling a front/rear axle torque split by actuating electric motors of the electrified powertrain, wherein an engine torque delay is mitigated or eliminated thereby increasing the electrical energy to a battery system for increased availability in actuating the electric motors to control the front/rear axle torque split.

A torque control system for a multi-motor range-extended electrified vehicle (REEV) having an electric all-wheel drive (eAWD) system includes a control system configured to utilize an unfiltered driver demand for engine torque determination and for predicting a front/rear axle torque split of an electrified powertrain of the REEV, the unfiltered driver demand being indicative of a torque request to be satisfied by the electrified powertrain, obtain a filtered driver demand that is damped or delayed compared to the unfiltered driver demand, and utilize the filtered driver demand for controlling a front/rear axle torque split by actuating electric motors of the electrified powertrain, wherein an engine torque delay is mitigated or eliminated thereby increasing the electrical energy to a battery system for increased availability in actuating the electric motors to control the front/rear axle torque split.

A locomotive wireless multi-heading remote distributed power traction operation control system. A set of differential multi-heading control unit (8) is added to a train control and management system of an original locomotive, and is combined and fused with a train control and management system (21), a brake control unit (24), a train safety monitoring device (20), a locomotive logic control unit (23), and a locomotive third-party device (25) to implement wireless multi-heading distributed power traction control operation of locomotives in a heavy haul combined train, and adapt to train multi-heading traction control operation of differential locomotives of a heavy haul combined train or multi-heading operation of different railway locomotives. Also provided is a multi-heading locomotive.